Repository Summary
Checkout URI | https://github.com/ros-tooling/topic_tools.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2023-11-27 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
topic_tools | 1.1.1 |
topic_tools_interfaces | 1.1.1 |
README
topic_tools
This package is the ROS 2 port of https://wiki.ros.org/topic_tools
Tools for directing, throttling, selecting, and otherwise manipulating ROS 2 topics at a meta-level. These tools do not generally perform serialization on the streams being manipulated, instead acting on generic binary data using rclcpp
’s GenericPublisher
and GenericSubscription
.
The tools in this package are provided as composable ROS 2 component nodes, so that they can be spawned into an existing process, launched from launchfiles, or invoked from the command line.
Components
- Relay: Subscribes to a topic and republishes to another.
- RelayField: Republishes data in a different message type.
- Transform: Manipulates a topic or a field and outputs data on another topic.
- Throttle: Republishes data with bandwidth or rate limit.
- Drop: Republishes by dropping X out of every Y incoming messages.
- Mux: Multiplexes incoming topics to an output.
- Delay: Delays and republishes incoming data.
Relay
Relay is ROS 2 node that subscribes to a topic and republishes all incoming data to another topic. It can work with any message type.
Usage
ros2 run topic_tools relay <intopic> [outtopic]
Subscribe to intopic
and republish to either
-
outtopic
if specified -
<intopic>_relay
if not
E.g. rename base_scan
to my_base_scan
:
ros2 run topic_tools relay base_scan my_base_scan
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_relay
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
RelayField
RelayField is a ROS 2 node that allows to republish data in a different message type.
Usage
ros2 run topic_tools relay_field <input topic> <output topic> <output type> [<expression on m>]
Subscribe to input topic
and republish one or many of its fields onto another field in a different message type
E.g. publish the contents of the data
field in a std_msgs/msg/String
onto the frame_id
field of a std_msgs/msg/Header
:
ros2 run topic_tools relay_field /chatter /header std_msgs/Header "{stamp: {sec: 0, nanosec: 0}, frame_id: m.data}"
Transform
Transform is a ROS 2 node that allows to take a topic or one of it fields and output it on another topic.
Usage
ros2 run topic_tools transform <input topic> <output topic> <output type> [<expression on m>] [--import <modules>] [--field <topic_field>]
Subscribe to input topic
and convert topic content or its field into
-
output topic
whose type isoutput type
based onexpression on m
E.g. transform imu
orientation to norm
:
ros2 run topic_tools transform /imu --field orientation /norm std_msgs/Float64 'std_msgs.msg.Float64(data=numpy.sqrt(numpy.sum(numpy.array([m.x, m.y, m.z, m.w]))))' --import std_msgs numpy
Throttle
Throttle is ROS 2 node that subscribes to a topic and republishes incoming data to another topic, either at a maximum bandwidth or maximum message rate.
Usage
throttle message (rate)
ros2 run topic_tools throttle messages <intopic> <msgs_per_sec> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
msgs_per_sec
: Maximum messages per second to let through. -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1Hz:
ros2 run topic_tools throttle messages base_scan 1.0
throttle bytes (bandwidth)
ros2 run topic_tools throttle bytes <intopic> <bytes_per_sec> <window> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
bytes_per_sec
: Maximum bytes of messages per second to let through. -
window
: Time window in seconds to consider -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1KBps:
ros2 run topic_tools throttle bytes base_scan 1024 1.0
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_throttle
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
-
throttle_type
(string, eithermessages
orbytes
)- Method how to throttle
-
msgs_per_sec
(double)- Maximum messages per second to let through.
-
bytes_per_sec
(integer)- Maximum bytes of messages per second to let through.
-
window
(double)- Time window in seconds to consider
Drop
Drop is ROS 2 node that can subscribe to a topic and republish incoming data to another topic, dropping X out of every Y incoming messages. It’s mainly useful for limiting bandwidth usage, e.g., over a wireless link. It can work with any message type.
Usage
ros2 run topic_tools drop <intopic> <X> <Y> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
X
,Y
: drop X out of every Y incoming messages -
outtopic
: Outgoing topic to publish on (default:intopic
_drop, e.g. when intopic is “base_scan”, then it will be base_scan_drop)
E.g. drop every other message published to base_scan:
ros2 run topic_tools drop base_scan 1 2
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_drop
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
X
(int),Y
(int)- Drop X out of every Y incoming messages
Mux
mux is a ROS2 node that subscribes to a set of incoming topics and republishes incoming data from one of them to another topic, i.e., it’s a multiplexer that switches an output among 1 of N inputs. Services are offered to switch among input topics, and to add and delete input topics. At startup, the first input topic on the command line is selected.
Usage
ros2 run topic_tools mux <outopic> <intopic1> [intopic2...]
Subscribe to
-
outtopic
: Outgoing topic to publish on -
intopicN
: Incoming topic to subscribe to
E.g. mux two command streams (auto_cmdvel and joystick_cmdvel) into one (sel_cmdvel):
ros2 run topic_tools mux sel_cmdvel auto_cmdvel joystick_cmdvel
Parameters
-
input_topics
(string array)- the same as if provided as a command line argument
-
output_topic
(string, default=~/selected
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
initial_topic
(str, default=””)- Input topic to select on startup. If
__none
, start with no input topic. If unset, default to first topic in arguments
- Input topic to select on startup. If
Delay
Delay is a ROS 2 node that can subscribe to a topic and republish incoming data to another topic, delaying the message by a fixed duration. It’s useful to simulate computational results with high latency.
Usage
ros2 run topic_tools delay <intopic> <delay> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
delay
: delay in seconds -
outtopic
: Outgoing topic to publish on (default: intopic_delay)
E.g. delay messages published to base_scan by 500ms:
ros2 run topic_tools delay base_scan 0.5
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_delay
)- the same as if provided as a command line argument
-
delay
(double, default=0.0)- delay in seconds
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-tooling/topic_tools.git |
VCS Type | git |
VCS Version | jazzy |
Last Updated | 2024-10-14 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
topic_tools | 1.3.2 |
topic_tools_interfaces | 1.3.2 |
README
topic_tools
This package is the ROS 2 port of https://wiki.ros.org/topic_tools
Tools for directing, throttling, selecting, and otherwise manipulating ROS 2 topics at a meta-level. These tools do not generally perform serialization on the streams being manipulated, instead acting on generic binary data using rclcpp
’s GenericPublisher
and GenericSubscription
.
The tools in this package are provided as composable ROS 2 component nodes, so that they can be spawned into an existing process, launched from launchfiles, or invoked from the command line.
Components
- Relay: Subscribes to a topic and republishes to another.
- RelayField: Republishes data in a different message type.
- Transform: Manipulates a topic or a field and outputs data on another topic.
- Throttle: Republishes data with bandwidth or rate limit.
- Drop: Republishes by dropping X out of every Y incoming messages.
- Mux: Multiplexes incoming topics to an output.
- Demux: Demultiplexes an incoming topic to one of multiple outputs
- Delay: Delays and republishes incoming data.
Relay
Relay is ROS 2 node that subscribes to a topic and republishes all incoming data to another topic. It can work with any message type.
Usage
ros2 run topic_tools relay <intopic> [outtopic]
Subscribe to intopic
and republish to either
-
outtopic
if specified -
<intopic>_relay
if not
E.g. rename base_scan
to my_base_scan
:
ros2 run topic_tools relay base_scan my_base_scan
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_relay
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
RelayField
RelayField is a ROS 2 node that allows to republish data in a different message type.
Usage
ros2 run topic_tools relay_field <input topic> <output topic> <output type> [<expression on m>]
Subscribe to input topic
and republish one or many of its fields onto another field in a different message type
E.g. publish the contents of the data
field in a std_msgs/msg/String
onto the frame_id
field of a std_msgs/msg/Header
:
ros2 run topic_tools relay_field /chatter /header std_msgs/Header "{stamp: {sec: 0, nanosec: 0}, frame_id: m.data}"
Transform
Transform is a ROS 2 node that allows to take a topic or one of it fields and output it on another topic.
Usage
ros2 run topic_tools transform <input topic> <output topic> <output type> [<expression on m>] [--import <modules>] [--field <topic_field>]
Subscribe to input topic
and convert topic content or its field into
-
output topic
whose type isoutput type
based onexpression on m
E.g. transform imu
orientation to norm
:
ros2 run topic_tools transform /imu --field orientation /norm std_msgs/Float64 'std_msgs.msg.Float64(data=numpy.sqrt(numpy.sum(numpy.array([m.x, m.y, m.z, m.w]))))' --import std_msgs numpy
Throttle
Throttle is ROS 2 node that subscribes to a topic and republishes incoming data to another topic, either at a maximum bandwidth or maximum message rate.
Usage
throttle message (rate)
ros2 run topic_tools throttle messages <intopic> <msgs_per_sec> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
msgs_per_sec
: Maximum messages per second to let through. -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1Hz:
ros2 run topic_tools throttle messages base_scan 1.0
throttle bytes (bandwidth)
ros2 run topic_tools throttle bytes <intopic> <bytes_per_sec> <window> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
bytes_per_sec
: Maximum bytes of messages per second to let through. -
window
: Time window in seconds to consider -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1KBps:
ros2 run topic_tools throttle bytes base_scan 1024 1.0
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_throttle
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
-
throttle_type
(string, eithermessages
orbytes
)- Method how to throttle
-
msgs_per_sec
(double)- Maximum messages per second to let through.
-
bytes_per_sec
(integer)- Maximum bytes of messages per second to let through.
-
window
(double)- Time window in seconds to consider
Drop
Drop is ROS 2 node that can subscribe to a topic and republish incoming data to another topic, dropping X out of every Y incoming messages. It’s mainly useful for limiting bandwidth usage, e.g., over a wireless link. It can work with any message type.
Usage
ros2 run topic_tools drop <intopic> <X> <Y> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
X
,Y
: drop X out of every Y incoming messages -
outtopic
: Outgoing topic to publish on (default:intopic
_drop, e.g. when intopic is “base_scan”, then it will be base_scan_drop)
E.g. drop every other message published to base_scan:
ros2 run topic_tools drop base_scan 1 2
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_drop
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
X
(int),Y
(int)- Drop X out of every Y incoming messages
Mux
mux is a ROS2 node that subscribes to a set of incoming topics and republishes incoming data from one of them to another topic, i.e., it’s a multiplexer that switches an output among 1 of N inputs. Services are offered to switch among input topics, and to add and delete input topics. At startup, the first input topic on the command line is selected.
Usage
ros2 run topic_tools mux <outtopic> <intopic1> [intopic2...]
Subscribe to
-
outtopic
: Outgoing topic to publish on -
intopicN
: Incoming topic to subscribe to
E.g. mux two command streams (auto_cmdvel and joystick_cmdvel) into one (sel_cmdvel):
ros2 run topic_tools mux sel_cmdvel auto_cmdvel joystick_cmdvel
Parameters
-
input_topics
(string array)- the same as if provided as a command line argument
-
output_topic
(string, default=~/selected
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
initial_topic
(str, default=””)- Input topic to select on startup. If
__none
, start with no input topic. If unset, default to first topic in arguments
- Input topic to select on startup. If
Demux
demux is a ROS2 node that subscribes to an incoming topic and republishes incoming data to one of many topic, i.e., it’s a demultiplexer that switches an input towards 1 of N outputs. Services are offered to switch among output topics, and to add and delete output topics. At startup, the first output topic on the command line is selected.
Usage
ros2 run topic_tools demux <intopic> <outtopic1> [outtopic2...]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
outtopicN
: Outgoing topic to publish on
E.g. demux one command stream (cmdvel) between two command streams (turtle1_cmdvel and turtle2_cmdvel):
ros2 run topic_tools demux cmdvel turtle1_cmdvel turtle2_cmdvel
Parameters
-
input_topic
(string, default=~/input
)- the same as if provided as a command line argument
-
output_topics
(string array)- the same as if provided as a command line argument
-
initial_topic
(str, default=””)- Output topic to select on startup. If
__none
, start with no output topic. If unset, default to first topic in arguments
- Output topic to select on startup. If
Delay
Delay is a ROS 2 node that can subscribe to a topic and republish incoming data to another topic, delaying the message by a fixed duration. It’s useful to simulate computational results with high latency.
Usage
ros2 run topic_tools delay <intopic> <delay> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
delay
: delay in seconds -
outtopic
: Outgoing topic to publish on (default: intopic_delay)
E.g. delay messages published to base_scan by 500ms:
ros2 run topic_tools delay base_scan 0.5
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_delay
)- the same as if provided as a command line argument
-
delay
(double, default=0.0)- delay in seconds
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-tooling/topic_tools.git |
VCS Type | git |
VCS Version | rolling |
Last Updated | 2024-10-14 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
topic_tools | 1.4.1 |
topic_tools_interfaces | 1.4.1 |
README
topic_tools
This package is the ROS 2 port of https://wiki.ros.org/topic_tools
Tools for directing, throttling, selecting, and otherwise manipulating ROS 2 topics at a meta-level. These tools do not generally perform serialization on the streams being manipulated, instead acting on generic binary data using rclcpp
’s GenericPublisher
and GenericSubscription
.
The tools in this package are provided as composable ROS 2 component nodes, so that they can be spawned into an existing process, launched from launchfiles, or invoked from the command line.
Components
- Relay: Subscribes to a topic and republishes to another.
- RelayField: Republishes data in a different message type.
- Transform: Manipulates a topic or a field and outputs data on another topic.
- Throttle: Republishes data with bandwidth or rate limit.
- Drop: Republishes by dropping X out of every Y incoming messages.
- Mux: Multiplexes incoming topics to an output.
- Demux: Demultiplexes an incoming topic to one of multiple outputs
- Delay: Delays and republishes incoming data.
Relay
Relay is ROS 2 node that subscribes to a topic and republishes all incoming data to another topic. It can work with any message type.
Usage
ros2 run topic_tools relay <intopic> [outtopic]
Subscribe to intopic
and republish to either
-
outtopic
if specified -
<intopic>_relay
if not
E.g. rename base_scan
to my_base_scan
:
ros2 run topic_tools relay base_scan my_base_scan
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_relay
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
RelayField
RelayField is a ROS 2 node that allows to republish data in a different message type.
Usage
ros2 run topic_tools relay_field <input topic> <output topic> <output type> [<expression on m>]
Subscribe to input topic
and republish one or many of its fields onto another field in a different message type
E.g. publish the contents of the data
field in a std_msgs/msg/String
onto the frame_id
field of a std_msgs/msg/Header
:
ros2 run topic_tools relay_field /chatter /header std_msgs/Header "{stamp: {sec: 0, nanosec: 0}, frame_id: m.data}"
Transform
Transform is a ROS 2 node that allows to take a topic or one of it fields and output it on another topic.
Usage
ros2 run topic_tools transform <input topic> <output topic> <output type> [<expression on m>] [--import <modules>] [--field <topic_field>]
Subscribe to input topic
and convert topic content or its field into
-
output topic
whose type isoutput type
based onexpression on m
E.g. transform imu
orientation to norm
:
ros2 run topic_tools transform /imu --field orientation /norm std_msgs/Float64 'std_msgs.msg.Float64(data=numpy.sqrt(numpy.sum(numpy.array([m.x, m.y, m.z, m.w]))))' --import std_msgs numpy
Throttle
Throttle is ROS 2 node that subscribes to a topic and republishes incoming data to another topic, either at a maximum bandwidth or maximum message rate.
Usage
throttle message (rate)
ros2 run topic_tools throttle messages <intopic> <msgs_per_sec> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
msgs_per_sec
: Maximum messages per second to let through. -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1Hz:
ros2 run topic_tools throttle messages base_scan 1.0
throttle bytes (bandwidth)
ros2 run topic_tools throttle bytes <intopic> <bytes_per_sec> <window> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
bytes_per_sec
: Maximum bytes of messages per second to let through. -
window
: Time window in seconds to consider -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1KBps:
ros2 run topic_tools throttle bytes base_scan 1024 1.0
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_throttle
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
-
throttle_type
(string, eithermessages
orbytes
)- Method how to throttle
-
msgs_per_sec
(double)- Maximum messages per second to let through.
-
bytes_per_sec
(integer)- Maximum bytes of messages per second to let through.
-
window
(double)- Time window in seconds to consider
Drop
Drop is ROS 2 node that can subscribe to a topic and republish incoming data to another topic, dropping X out of every Y incoming messages. It’s mainly useful for limiting bandwidth usage, e.g., over a wireless link. It can work with any message type.
Usage
ros2 run topic_tools drop <intopic> <X> <Y> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
X
,Y
: drop X out of every Y incoming messages -
outtopic
: Outgoing topic to publish on (default:intopic
_drop, e.g. when intopic is “base_scan”, then it will be base_scan_drop)
E.g. drop every other message published to base_scan:
ros2 run topic_tools drop base_scan 1 2
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_drop
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
X
(int),Y
(int)- Drop X out of every Y incoming messages
Mux
mux is a ROS2 node that subscribes to a set of incoming topics and republishes incoming data from one of them to another topic, i.e., it’s a multiplexer that switches an output among 1 of N inputs. Services are offered to switch among input topics, and to add and delete input topics. At startup, the first input topic on the command line is selected.
Usage
ros2 run topic_tools mux <outtopic> <intopic1> [intopic2...]
Subscribe to
-
outtopic
: Outgoing topic to publish on -
intopicN
: Incoming topic to subscribe to
E.g. mux two command streams (auto_cmdvel and joystick_cmdvel) into one (sel_cmdvel):
ros2 run topic_tools mux sel_cmdvel auto_cmdvel joystick_cmdvel
Parameters
-
input_topics
(string array)- the same as if provided as a command line argument
-
output_topic
(string, default=~/selected
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
initial_topic
(str, default=””)- Input topic to select on startup. If
__none
, start with no input topic. If unset, default to first topic in arguments
- Input topic to select on startup. If
Demux
demux is a ROS2 node that subscribes to an incoming topic and republishes incoming data to one of many topic, i.e., it’s a demultiplexer that switches an input towards 1 of N outputs. Services are offered to switch among output topics, and to add and delete output topics. At startup, the first output topic on the command line is selected.
Usage
ros2 run topic_tools demux <intopic> <outtopic1> [outtopic2...]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
outtopicN
: Outgoing topic to publish on
E.g. demux one command stream (cmdvel) between two command streams (turtle1_cmdvel and turtle2_cmdvel):
ros2 run topic_tools demux cmdvel turtle1_cmdvel turtle2_cmdvel
Parameters
-
input_topic
(string, default=~/input
)- the same as if provided as a command line argument
-
output_topics
(string array)- the same as if provided as a command line argument
-
initial_topic
(str, default=””)- Output topic to select on startup. If
__none
, start with no output topic. If unset, default to first topic in arguments
- Output topic to select on startup. If
Delay
Delay is a ROS 2 node that can subscribe to a topic and republish incoming data to another topic, delaying the message by a fixed duration. It’s useful to simulate computational results with high latency.
Usage
ros2 run topic_tools delay <intopic> <delay> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
delay
: delay in seconds -
outtopic
: Outgoing topic to publish on (default: intopic_delay)
E.g. delay messages published to base_scan by 500ms:
ros2 run topic_tools delay base_scan 0.5
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_delay
)- the same as if provided as a command line argument
-
delay
(double, default=0.0)- delay in seconds
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-tooling/topic_tools.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-11-27 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
topic_tools | 1.3.0 |
topic_tools_interfaces | 1.3.0 |
README
topic_tools
This package is the ROS 2 port of https://wiki.ros.org/topic_tools
Tools for directing, throttling, selecting, and otherwise manipulating ROS 2 topics at a meta-level. These tools do not generally perform serialization on the streams being manipulated, instead acting on generic binary data using rclcpp
’s GenericPublisher
and GenericSubscription
.
The tools in this package are provided as composable ROS 2 component nodes, so that they can be spawned into an existing process, launched from launchfiles, or invoked from the command line.
Components
- Relay: Subscribes to a topic and republishes to another.
- RelayField: Republishes data in a different message type.
- Transform: Manipulates a topic or a field and outputs data on another topic.
- Throttle: Republishes data with bandwidth or rate limit.
- Drop: Republishes by dropping X out of every Y incoming messages.
- Mux: Multiplexes incoming topics to an output.
- Delay: Delays and republishes incoming data.
Relay
Relay is ROS 2 node that subscribes to a topic and republishes all incoming data to another topic. It can work with any message type.
Usage
ros2 run topic_tools relay <intopic> [outtopic]
Subscribe to intopic
and republish to either
-
outtopic
if specified -
<intopic>_relay
if not
E.g. rename base_scan
to my_base_scan
:
ros2 run topic_tools relay base_scan my_base_scan
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_relay
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
RelayField
RelayField is a ROS 2 node that allows to republish data in a different message type.
Usage
ros2 run topic_tools relay_field <input topic> <output topic> <output type> [<expression on m>]
Subscribe to input topic
and republish one or many of its fields onto another field in a different message type
E.g. publish the contents of the data
field in a std_msgs/msg/String
onto the frame_id
field of a std_msgs/msg/Header
:
ros2 run topic_tools relay_field /chatter /header std_msgs/Header "{stamp: {sec: 0, nanosec: 0}, frame_id: m.data}"
Transform
Transform is a ROS 2 node that allows to take a topic or one of it fields and output it on another topic.
Usage
ros2 run topic_tools transform <input topic> <output topic> <output type> [<expression on m>] [--import <modules>] [--field <topic_field>]
Subscribe to input topic
and convert topic content or its field into
-
output topic
whose type isoutput type
based onexpression on m
E.g. transform imu
orientation to norm
:
ros2 run topic_tools transform /imu --field orientation /norm std_msgs/Float64 'std_msgs.msg.Float64(data=numpy.sqrt(numpy.sum(numpy.array([m.x, m.y, m.z, m.w]))))' --import std_msgs numpy
Throttle
Throttle is ROS 2 node that subscribes to a topic and republishes incoming data to another topic, either at a maximum bandwidth or maximum message rate.
Usage
throttle message (rate)
ros2 run topic_tools throttle messages <intopic> <msgs_per_sec> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
msgs_per_sec
: Maximum messages per second to let through. -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1Hz:
ros2 run topic_tools throttle messages base_scan 1.0
throttle bytes (bandwidth)
ros2 run topic_tools throttle bytes <intopic> <bytes_per_sec> <window> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
bytes_per_sec
: Maximum bytes of messages per second to let through. -
window
: Time window in seconds to consider -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1KBps:
ros2 run topic_tools throttle bytes base_scan 1024 1.0
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_throttle
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
-
throttle_type
(string, eithermessages
orbytes
)- Method how to throttle
-
msgs_per_sec
(double)- Maximum messages per second to let through.
-
bytes_per_sec
(integer)- Maximum bytes of messages per second to let through.
-
window
(double)- Time window in seconds to consider
Drop
Drop is ROS 2 node that can subscribe to a topic and republish incoming data to another topic, dropping X out of every Y incoming messages. It’s mainly useful for limiting bandwidth usage, e.g., over a wireless link. It can work with any message type.
Usage
ros2 run topic_tools drop <intopic> <X> <Y> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
X
,Y
: drop X out of every Y incoming messages -
outtopic
: Outgoing topic to publish on (default:intopic
_drop, e.g. when intopic is “base_scan”, then it will be base_scan_drop)
E.g. drop every other message published to base_scan:
ros2 run topic_tools drop base_scan 1 2
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_drop
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
X
(int),Y
(int)- Drop X out of every Y incoming messages
Mux
mux is a ROS2 node that subscribes to a set of incoming topics and republishes incoming data from one of them to another topic, i.e., it’s a multiplexer that switches an output among 1 of N inputs. Services are offered to switch among input topics, and to add and delete input topics. At startup, the first input topic on the command line is selected.
Usage
ros2 run topic_tools mux <outopic> <intopic1> [intopic2...]
Subscribe to
-
outtopic
: Outgoing topic to publish on -
intopicN
: Incoming topic to subscribe to
E.g. mux two command streams (auto_cmdvel and joystick_cmdvel) into one (sel_cmdvel):
ros2 run topic_tools mux sel_cmdvel auto_cmdvel joystick_cmdvel
Parameters
-
input_topics
(string array)- the same as if provided as a command line argument
-
output_topic
(string, default=~/selected
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
initial_topic
(str, default=””)- Input topic to select on startup. If
__none
, start with no input topic. If unset, default to first topic in arguments
- Input topic to select on startup. If
Delay
Delay is a ROS 2 node that can subscribe to a topic and republish incoming data to another topic, delaying the message by a fixed duration. It’s useful to simulate computational results with high latency.
Usage
ros2 run topic_tools delay <intopic> <delay> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
delay
: delay in seconds -
outtopic
: Outgoing topic to publish on (default: intopic_delay)
E.g. delay messages published to base_scan by 500ms:
ros2 run topic_tools delay base_scan 0.5
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_delay
)- the same as if provided as a command line argument
-
delay
(double, default=0.0)- delay in seconds
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
Checkout URI | https://github.com/ros-tooling/topic_tools.git |
VCS Type | git |
VCS Version | iron |
Last Updated | 2023-11-27 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
topic_tools | 1.2.0 |
topic_tools_interfaces | 1.2.0 |
README
topic_tools
This package is the ROS 2 port of https://wiki.ros.org/topic_tools
Tools for directing, throttling, selecting, and otherwise manipulating ROS 2 topics at a meta-level. These tools do not generally perform serialization on the streams being manipulated, instead acting on generic binary data using rclcpp
’s GenericPublisher
and GenericSubscription
.
The tools in this package are provided as composable ROS 2 component nodes, so that they can be spawned into an existing process, launched from launchfiles, or invoked from the command line.
Components
- Relay: Subscribes to a topic and republishes to another.
- RelayField: Republishes data in a different message type.
- Transform: Manipulates a topic or a field and outputs data on another topic.
- Throttle: Republishes data with bandwidth or rate limit.
- Drop: Republishes by dropping X out of every Y incoming messages.
- Mux: Multiplexes incoming topics to an output.
- Delay: Delays and republishes incoming data.
Relay
Relay is ROS 2 node that subscribes to a topic and republishes all incoming data to another topic. It can work with any message type.
Usage
ros2 run topic_tools relay <intopic> [outtopic]
Subscribe to intopic
and republish to either
-
outtopic
if specified -
<intopic>_relay
if not
E.g. rename base_scan
to my_base_scan
:
ros2 run topic_tools relay base_scan my_base_scan
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_relay
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
RelayField
RelayField is a ROS 2 node that allows to republish data in a different message type.
Usage
ros2 run topic_tools relay_field <input topic> <output topic> <output type> [<expression on m>]
Subscribe to input topic
and republish one or many of its fields onto another field in a different message type
E.g. publish the contents of the data
field in a std_msgs/msg/String
onto the frame_id
field of a std_msgs/msg/Header
:
ros2 run topic_tools relay_field /chatter /header std_msgs/Header "{stamp: {sec: 0, nanosec: 0}, frame_id: m.data}"
Transform
Transform is a ROS 2 node that allows to take a topic or one of it fields and output it on another topic.
Usage
ros2 run topic_tools transform <input topic> <output topic> <output type> [<expression on m>] [--import <modules>] [--field <topic_field>]
Subscribe to input topic
and convert topic content or its field into
-
output topic
whose type isoutput type
based onexpression on m
E.g. transform imu
orientation to norm
:
ros2 run topic_tools transform /imu --field orientation /norm std_msgs/Float64 'std_msgs.msg.Float64(data=numpy.sqrt(numpy.sum(numpy.array([m.x, m.y, m.z, m.w]))))' --import std_msgs numpy
Throttle
Throttle is ROS 2 node that subscribes to a topic and republishes incoming data to another topic, either at a maximum bandwidth or maximum message rate.
Usage
throttle message (rate)
ros2 run topic_tools throttle messages <intopic> <msgs_per_sec> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
msgs_per_sec
: Maximum messages per second to let through. -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1Hz:
ros2 run topic_tools throttle messages base_scan 1.0
throttle bytes (bandwidth)
ros2 run topic_tools throttle bytes <intopic> <bytes_per_sec> <window> [outtopic]
Throttle messages on intopic
to a particular rate.
-
intopic
: Incoming topic to subscribe to -
bytes_per_sec
: Maximum bytes of messages per second to let through. -
window
: Time window in seconds to consider -
outtopic
: Outgoing topic to publish on (default: intopic_throttle)
E.g. throttle bandwidth-hogging laser scans (base_scan) to 1KBps:
ros2 run topic_tools throttle bytes base_scan 1024 1.0
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_throttle
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
-
throttle_type
(string, eithermessages
orbytes
)- Method how to throttle
-
msgs_per_sec
(double)- Maximum messages per second to let through.
-
bytes_per_sec
(integer)- Maximum bytes of messages per second to let through.
-
window
(double)- Time window in seconds to consider
Drop
Drop is ROS 2 node that can subscribe to a topic and republish incoming data to another topic, dropping X out of every Y incoming messages. It’s mainly useful for limiting bandwidth usage, e.g., over a wireless link. It can work with any message type.
Usage
ros2 run topic_tools drop <intopic> <X> <Y> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
X
,Y
: drop X out of every Y incoming messages -
outtopic
: Outgoing topic to publish on (default:intopic
_drop, e.g. when intopic is “base_scan”, then it will be base_scan_drop)
E.g. drop every other message published to base_scan:
ros2 run topic_tools drop base_scan 1 2
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_drop
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
X
(int),Y
(int)- Drop X out of every Y incoming messages
Mux
mux is a ROS2 node that subscribes to a set of incoming topics and republishes incoming data from one of them to another topic, i.e., it’s a multiplexer that switches an output among 1 of N inputs. Services are offered to switch among input topics, and to add and delete input topics. At startup, the first input topic on the command line is selected.
Usage
ros2 run topic_tools mux <outopic> <intopic1> [intopic2...]
Subscribe to
-
outtopic
: Outgoing topic to publish on -
intopicN
: Incoming topic to subscribe to
E.g. mux two command streams (auto_cmdvel and joystick_cmdvel) into one (sel_cmdvel):
ros2 run topic_tools mux sel_cmdvel auto_cmdvel joystick_cmdvel
Parameters
-
input_topics
(string array)- the same as if provided as a command line argument
-
output_topic
(string, default=~/selected
)- the same as if provided as a command line argument
-
lazy
(bool, default=False)- If True, only subscribe to
input_topic
if there is at least one subscriber on theoutput_topic
- If True, only subscribe to
-
initial_topic
(str, default=””)- Input topic to select on startup. If
__none
, start with no input topic. If unset, default to first topic in arguments
- Input topic to select on startup. If
Delay
Delay is a ROS 2 node that can subscribe to a topic and republish incoming data to another topic, delaying the message by a fixed duration. It’s useful to simulate computational results with high latency.
Usage
ros2 run topic_tools delay <intopic> <delay> [outtopic]
Subscribe to
-
intopic
: Incoming topic to subscribe to -
delay
: delay in seconds -
outtopic
: Outgoing topic to publish on (default: intopic_delay)
E.g. delay messages published to base_scan by 500ms:
ros2 run topic_tools delay base_scan 0.5
Parameters
-
input_topic
(string)- the same as if provided as a command line argument
-
output_topic
(string, default=<input_topic>_delay
)- the same as if provided as a command line argument
-
delay
(double, default=0.0)- delay in seconds
-
use_wall_clock
(bool, default=False)- If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect.
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.